dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/collision/RaycastResult.hpp

@@ -0,0 +1,80 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_RAYCASTRESULT_HPP_
+#define DART_COLLISION_RAYCASTRESULT_HPP_
+
+#include <Eigen/Dense>
+
+#include <vector>
+
+namespace dart {
+namespace collision {
+
+class CollisionObject;
+
+struct RayHit
+{
+  /// The collision object the ray hit
+  const CollisionObject* mCollisionObject;
+
+  /// The hit point in the world coordinates
+  Eigen::Vector3d mPoint;
+
+  /// The fraction from "from" point to "to" point
+  double mFraction;
+
+  /// The normal at the hit point in the world coordinates
+  Eigen::Vector3d mNormal;
+
+  /// Constructor
+  RayHit();
+};
+
+struct RaycastResult
+{
+  /// Clear the result
+  void clear();
+
+  /// Returns true if there is a hit
+  bool hasHit() const;
+
+  std::vector<RayHit> mRayHits;
+
+  /// Constructor
+  RaycastResult();
+};
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_RAYCASTRESULT_HPP_

include/dart/collision/Result.hpp

@@ -0,0 +1,42 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_RESULT_HPP_
+#define DART_COLLISION_RESULT_HPP_
+
+#pragma message(                                                               \
+    "This header has been deprecated in DART 6.1. "                            \
+    "Please include CollisionResult.hpp instead.")
+
+#include <dart/collision/CollisionResult.hpp>
+
+#endif // DART_COLLISION_RESULT_HPP_

include/dart/collision/SmartPointer.hpp

@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_SMARTPOINTER_HPP_
+#define DART_COLLISION_SMARTPOINTER_HPP_
+
+#include <dart/common/SmartPointer.hpp>
+
+namespace dart {
+namespace collision {
+
+DART_COMMON_DECLARE_SHARED_WEAK(CollisionDetector)
+DART_COMMON_DECLARE_SHARED_WEAK(FCLCollisionDetector)
+DART_COMMON_DECLARE_SHARED_WEAK(DARTCollisionDetector)
+
+DART_COMMON_DECLARE_SHARED_WEAK(CollisionObject)
+DART_COMMON_DECLARE_SHARED_WEAK(CollisionGroup)
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_SMARTPOINTER_HPP_

include/dart/collision/all.hpp

@@ -0,0 +1,17 @@
+// Automatically generated file by cmake
+
+#include "dart/collision/CollisionDetector.hpp"
+#include "dart/collision/CollisionFilter.hpp"
+#include "dart/collision/CollisionGroup.hpp"
+#include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/CollisionOption.hpp"
+#include "dart/collision/CollisionResult.hpp"
+#include "dart/collision/Contact.hpp"
+#include "dart/collision/DistanceFilter.hpp"
+#include "dart/collision/DistanceOption.hpp"
+#include "dart/collision/DistanceResult.hpp"
+#include "dart/collision/RaycastOption.hpp"
+#include "dart/collision/RaycastResult.hpp"
+#include "dart/collision/SmartPointer.hpp"
+#include "dart/collision/dart/all.hpp"
+#include "dart/collision/fcl/all.hpp"

include/dart/collision/bullet/BulletCollisionDetector.hpp

@@ -0,0 +1,168 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
+#define DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
+
+#include <dart/collision/CollisionDetector.hpp>
+#include <dart/collision/bullet/BulletCollisionGroup.hpp>
+#include <dart/collision/bullet/BulletCollisionShape.hpp>
+#include <dart/collision/bullet/BulletInclude.hpp>
+
+#include <assimp/scene.h>
+
+#include <vector>
+
+namespace dart {
+namespace collision {
+
+class BulletCollisionDetector : public CollisionDetector
+{
+public:
+  using CollisionDetector::createCollisionGroup;
+
+  friend class CollisionDetector;
+
+  static std::shared_ptr<BulletCollisionDetector> create();
+
+  /// Constructor
+  ~BulletCollisionDetector() override;
+
+  // Documentation inherited
+  std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects()
+      const override;
+
+  // Documentation inherited
+  const std::string& getType() const override;
+
+  /// Get collision detector type for this class
+  static const std::string& getStaticType();
+
+  // Documentation inherited
+  std::unique_ptr<CollisionGroup> createCollisionGroup() override;
+
+  // Documentation inherited
+  bool collide(
+      CollisionGroup* group,
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr) override;
+
+  // Documentation inherited
+  bool collide(
+      CollisionGroup* group1,
+      CollisionGroup* group2,
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr) override;
+
+  // Documentation inherited
+  double distance(
+      CollisionGroup* group,
+      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
+      DistanceResult* result = nullptr) override;
+
+  // Documentation inherited
+  double distance(
+      CollisionGroup* group1,
+      CollisionGroup* group2,
+      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
+      DistanceResult* result = nullptr) override;
+
+  // Documentation inherited
+  bool raycast(
+      CollisionGroup* group,
+      const Eigen::Vector3d& from,
+      const Eigen::Vector3d& to,
+      const RaycastOption& option = RaycastOption(),
+      RaycastResult* result = nullptr) override;
+
+protected:
+  /// Constructor
+  BulletCollisionDetector();
+
+  // Documentation inherited
+  std::unique_ptr<CollisionObject> createCollisionObject(
+      const dynamics::ShapeFrame* shapeFrame) override;
+
+  // Documentation inherited
+  void refreshCollisionObject(CollisionObject* object) override;
+
+  // Documentation inherited
+  void notifyCollisionObjectDestroying(CollisionObject* object) override;
+
+private:
+  std::shared_ptr<BulletCollisionShape> claimBulletCollisionShape(
+      const dynamics::ConstShapePtr& shape);
+
+  void reclaimBulletCollisionShape(const dynamics::ConstShapePtr& shape);
+
+  std::unique_ptr<BulletCollisionShape> createBulletCollisionShape(
+      const dynamics::ConstShapePtr& shape);
+
+  /// This deleter is responsible for deleting BulletCollisionShape objects and
+  /// removing them from mShapeMap when they are not shared by any
+  /// CollisionObjects.
+  class BulletCollisionShapeDeleter final
+  {
+  public:
+    BulletCollisionShapeDeleter(
+        BulletCollisionDetector* cd, const dynamics::ConstShapePtr& shape);
+
+    void operator()(BulletCollisionShape* shape) const;
+
+  private:
+    BulletCollisionDetector* mBulletCollisionDetector;
+
+    dynamics::ConstShapePtr mShape;
+  };
+
+  /// Information for a shape that was generated by this collision detector
+  struct ShapeInfo final
+  {
+    /// A weak reference to the shape
+    std::weak_ptr<BulletCollisionShape> mShape;
+
+    /// The last version of the shape, as known by this collision detector
+    std::size_t mLastKnownVersion;
+  };
+
+private:
+  std::map<dynamics::ConstShapePtr, ShapeInfo> mShapeMap;
+
+  std::unique_ptr<BulletCollisionGroup> mGroupForFiltering;
+
+  static Registrar<BulletCollisionDetector> mRegistrar;
+};
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_

include/dart/collision/bullet/BulletCollisionGroup.hpp

@@ -0,0 +1,98 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
+#define DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
+
+#include <dart/collision/CollisionGroup.hpp>
+#include <dart/collision/bullet/BulletInclude.hpp>
+
+namespace dart {
+namespace collision {
+
+class BulletCollisionGroup : public CollisionGroup
+{
+public:
+  friend class BulletCollisionDetector;
+
+  /// Constructor
+  BulletCollisionGroup(const CollisionDetectorPtr& collisionDetector);
+
+  /// Destructor
+  virtual ~BulletCollisionGroup() = default;
+
+protected:
+  // Documentation inherited
+  void initializeEngineData() override;
+
+  // Documentation inherited
+  void addCollisionObjectToEngine(CollisionObject* object) override;
+
+  // Documentation inherited
+  void addCollisionObjectsToEngine(
+      const std::vector<CollisionObject*>& collObjects) override;
+
+  // Documentation inherited
+  void removeCollisionObjectFromEngine(CollisionObject* object) override;
+
+  // Documentation inherited
+  void removeAllCollisionObjectsFromEngine() override;
+
+  // Documentation inherited
+  void updateCollisionGroupEngineData() override;
+
+  /// Return Bullet collision world
+  btCollisionWorld* getBulletCollisionWorld();
+
+  /// Return Bullet collision world
+  const btCollisionWorld* getBulletCollisionWorld() const;
+
+protected:
+  using CollisionGroup::updateEngineData;
+
+  /// Bullet broad-phase algorithm
+  std::unique_ptr<btBroadphaseInterface> mBulletProadphaseAlg;
+
+  /// Bullet collision configuration
+  std::unique_ptr<btCollisionConfiguration> mBulletCollisionConfiguration;
+
+  /// Bullet collision dispatcher
+  std::unique_ptr<btDispatcher> mBulletDispatcher;
+
+  /// Bullet collision world
+  std::unique_ptr<btCollisionWorld> mBulletCollisionWorld;
+};
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_

include/dart/collision/bullet/BulletCollisionObject.hpp

@@ -0,0 +1,75 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
+#define DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
+
+#include <dart/collision/CollisionObject.hpp>
+#include <dart/collision/bullet/BulletCollisionShape.hpp>
+#include <dart/collision/bullet/BulletInclude.hpp>
+
+namespace dart {
+namespace collision {
+
+class CollisionObject;
+
+class BulletCollisionObject : public CollisionObject
+{
+public:
+  friend class BulletCollisionDetector;
+
+  /// Return Bullet collision object
+  btCollisionObject* getBulletCollisionObject();
+
+  /// Return Bullet collision object
+  const btCollisionObject* getBulletCollisionObject() const;
+
+protected:
+  /// Constructor
+  BulletCollisionObject(
+      CollisionDetector* collisionDetector,
+      const dynamics::ShapeFrame* shapeFrame,
+      const std::shared_ptr<BulletCollisionShape>& bulletCollisionShape);
+
+  // Documentation inherited
+  void updateEngineData() override;
+
+protected:
+  /// Bullet collision object
+  std::shared_ptr<BulletCollisionShape> mBulletCollisionShape;
+  std::unique_ptr<btCollisionObject> mBulletCollisionObject;
+};
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_

include/dart/collision/bullet/BulletCollisionShape.hpp

@@ -0,0 +1,62 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONSHAPE_HPP_
+#define DART_COLLISION_BULLET_BULLETCOLLISIONSHAPE_HPP_
+
+#include <dart/collision/bullet/BulletInclude.hpp>
+
+#include <memory>
+
+namespace dart {
+namespace collision {
+
+struct BulletCollisionShape
+{
+  std::unique_ptr<btCollisionShape> mCollisionShape;
+
+  /// Relative transform of the shape to the collision object
+  /// which should be maintained at each pose update of the collision object.
+  /// Defaults to identity.
+  std::unique_ptr<btTransform> mRelativeTransform;
+
+  BulletCollisionShape(
+      std::unique_ptr<btCollisionShape> collisionShape,
+      const btTransform& relativeTransform);
+
+  explicit BulletCollisionShape(std::unique_ptr<btCollisionShape> collShape);
+};
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_BULLET_BULLETCOLLISIONSHAPE_HPP_

include/dart/collision/bullet/BulletInclude.hpp

@@ -0,0 +1,47 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_BULLET_BULLETINCLUDE_HPP_
+#define DART_COLLISION_BULLET_BULLETINCLUDE_HPP_
+
+// clang-format off
+
+// dart/config.hpp must be included before any Bullet headers.
+#include <dart/config.hpp>
+
+#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
+#include <BulletCollision/Gimpact/btGImpactShape.h>
+#include <btBulletCollisionCommon.h>
+
+// clang-format on
+
+#endif // DART_COLLISION_BULLET_BULLETINCLUDE_HPP_